Directional driving control device of unmanned vehicle

Abstract

The utility model provides a directional driving control device of an unmanned vehicle, which comprises a magnetic directional disc, a U-groove type photoelectric switch, a C-shaped circular ring and a directional precision adjusting sheet, when in use, the directional driving control device is horizontally arranged on the left and right driven vehicles as far as possible, the C-shaped circular ring is fixed with the vehicle body, and the magnetic directional disc keeps flexible rotation. When a vehicle runs in a straight line normally, light signal light beams of the two U-groove type photoelectric switches fixed to the C-shaped circular ring penetrate through directional holes of the magnetic directional disc at the same time, power signals are sent out, and the vehicle continues to run in the straight line normally; when the driving direction of a vehicle is changed due to the ground and the like, the N pole of the magnetic directional disc is the north, and the S pole of the magnetic directional disc is the south, but the position opposite to the magnetic directional disc is changed by the U-groove-shaped photoelectric switch fixed on the C-shaped circular ring, optical signals on one side are blocked by the magnetic directional disc, emitted power signals are changed at the same time, and the driving direction of the vehicle is changed. The power transmission of the other drive of the vehicle is stopped, and the steering of the traveling direction is corrected.

Description

Technical Field

[0001] The utility model relates to a directional driving control device for an unmanned vehicle, in particular to a straight-line directional driving control device for an unmanned vehicle. Background Art

[0002] Unmanned vehicles often need to travel in a straight line, especially some unmanned vehicles with operating projects, such as unmanned tillage machines, seeding and transplanting machines, furrowing and ridging machines, canal digging and ridge leveling machines, spraying and fertilizing machines, rice transplanters, transporters, etc. Under the existing technology, unmanned vehicles mainly rely on satellite positioning systems and on-board sensor environmental perception technology to identify directions. When the former is used in indoor places such as factory workshops and greenhouses, the top components of workshops and greenhouses often significantly weaken satellite signals, affecting normal use. The application cost of the sensor environmental perception system is relatively high, and it is difficult to be widely used on cheap related vehicles. Utility Model Content

[0003] The utility model provides a low-cost, intuitive and simple-to-operate unmanned vehicle straight-line driving directional control device, which can quickly restore the original straight-line driving direction and continue to move forward when the vehicle deviates due to ground conditions. The utility model comprises a magnetic directional disk, a U-groove photoelectric switch, a C-shaped ring, a directional accuracy adjustment sheet, etc.

[0004] In a specific implementation scheme, the directional driving control device of the unmanned vehicle includes a magnetic directional disk, a U-groove photoelectric switch, a C-shaped ring, and a directional accuracy adjustment sheet;

[0005] The magnetic orientation disk is lightproof and circular, with a magnetic N pole at one end of the axis and a magnetic S pole at the other end. The magnetic orientation disk is fixed by the axis and can rotate freely and flexibly around the axis, so that the N pole is always facing north and the S pole is always facing south.

[0006] There is an arc-shaped transparent orientation hole on each side of the magnetic orientation disk, and one end of each orientation hole is provided with an opaque orientation accuracy adjustment sheet;

[0007] The periphery of the magnetic directional disk is a C-shaped circular ring, and the C-shaped circular ring is provided with a C-shaped circular ring slot from top to bottom, and the slot opening is smaller than the slot body.

[0008] The diameter of the magnetic directional disk is smaller than the inner diameter of the C-shaped ring and can rotate freely in the C-shaped ring;

[0009] The left and right sides of the C-shaped ring are fixed with a U-groove photoelectric switch through the positioning ears, positioning bolts and positioning cards of the U-groove photoelectric switch. The optical signal transmitter and receiver of the U-groove photoelectric switch correspond to each other on the two sides of the directional hole of the magnetic directional plate, so that the light beam of the optical signal just passes through the directional hole; loosening the positioning bolt, the U-groove photoelectric switch can move along the C-shaped ring card slot of the C-shaped ring; tightening the positioning bolt can fix the U-groove photoelectric switch on the C-shaped ring;

[0010] When the directional driving control device of the unmanned vehicle is used on the vehicle, the C-shaped ring is fixed to the vehicle body; when the vehicle is driving normally in a straight line, the light signal light beams of the two U-groove type photoelectric switches pass through the directional hole at the same time, and both send out power signals, so that the vehicle continues to drive normally in a straight line; when the vehicle changes its driving direction due to ground reasons, the magnetic directional disk still has the N pole pointing north and the S pole pointing south, and the U-groove type photoelectric switch fixed on the C-shaped ring changes its relative position with the magnetic directional disk at the same time as the driving direction of the vehicle changes, and the light signal light beam on one side is blocked by the magnetic directional disk, and the power signal sent out by the U-groove type photoelectric switch changes at the same time, causing the drive on the other side of the vehicle to stop power transmission.

[0011] In another specific embodiment, the orientation accuracy adjustment sheet can be rotated and fixed around the orientation accuracy adjustment axis to cover a portion of the orientation hole.

[0012] In another specific embodiment, the C-shaped ring and the magnetic orientation disk have the same axis. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 A schematic diagram of the top view of the directional driving control device for an unmanned vehicle provided by the utility model;

[0014] Figure 2 for Figure 1 AA cross-sectional structural diagram;

[0015] Figure 3 This is a schematic diagram of the top structure of the magnetic directional disk provided by the utility model.

[0016] in, Figure 1-Figure 3 middle:

[0017] C-shaped ring 1, C-shaped ring slot 2, directional hole 3, positioning ear 4, positioning bolt 5, U-slot photoelectric switch 6, angle mark 7, scale mark 8, directional accuracy adjustment shaft 9, directional accuracy adjustment sheet 10, axis 11, magnetic directional disk 12, positioning card 13, optical signal transmitter 14, optical signal receiver 15, directional accuracy adjustment sheet axis 16. DETAILED DESCRIPTION

[0018] The disk body of the magnetic orientation disk 12 of the utility model is light-proof and circular, with one end of the axis 11 being a magnetic N pole and the other corresponding end being a magnetic S pole. The magnetic orientation disk 12 is fixed by the axis 11 and can rotate freely and flexibly around the axis so that the N pole is always facing north and the S pole is always facing south. There is an arc-shaped transparent orientation hole 3 on each side of the magnetic orientation disk 12, and an opaque orientation accuracy adjustment sheet 10 at one end of each orientation hole 3. The orientation accuracy adjustment sheet 10 can rotate and be fixed around the axis 9 to cover a part of the transparent orientation hole 3. There are scale marks 8 and angle marks 7 on the outside of the magnetic orientation disk 12.

[0019] The periphery of the magnetic directional disk 12 is a C-shaped circular ring 1, and the C-shaped circular ring has a C-shaped circular ring slot 2 from top to bottom, and the slot is smaller than the slot body. The C-shaped circular ring and the magnetic directional disk have the same axis 11, and the diameter of the magnetic directional disk 12 is smaller than the inner diameter of the C-shaped circular ring 1, and can rotate freely in the C-shaped circular ring 1. A U-groove type photoelectric switch 6 is fixed on each side of the C-shaped circular ring through the positioning ears 4, positioning bolts 5 and positioning cards 13 of the U-groove type photoelectric switch 6. The optical signal transmitter 14 and the receiver 15 of the U-groove type photoelectric switch 6 correspond to each other on both sides of the directional hole 3 of the magnetic directional disk 12, so that the light beam of the optical signal just passes through the directional hole 3. Loosen the positioning bolt 5, and the U-groove type photoelectric switch 6 can move along the C-shaped circular ring 1 C-shaped circular ring slot 2. Tighten the positioning bolt 5 to fix the U-groove type photoelectric switch 6 on the C-shaped circular ring 1.

[0020] The utility model is implemented as follows: the device is installed as horizontally as possible on a vehicle driven left and right, the C-shaped ring 1 is fixed to the vehicle body, and the magnetic directional disk 12 is kept in a state of flexible rotation, with the N pole facing north and the S pole facing south. Before the vehicle travels in a straight line, the vehicle body is first aligned in the direction required for straight-line travel, so that the vehicle driving direction is consistent with the required forward direction, and then all the positioning bolts 5 of the U-groove type photoelectric switch 6 are loosened, and the two U-groove type photoelectric switches 6 are moved so that the light beams of the light signals of the two U-groove type photoelectric switches 6 are close to the 90-degree mark on the magnetic directional disk 12. Further precise adjustment of the relative position of the light signal beam and the directional hole 3 can be carried out by rotating and fixing the directional accuracy adjustment sheet 10.

[0021] When the vehicle is traveling in a normal straight line, the light signal beams of the two U-groove photoelectric switches 6 pass through the directional hole 3 at the same time, and the two U-groove photoelectric switches 6 send power signals, so that the vehicle continues to travel in a normal straight line. When the vehicle changes its driving direction due to reasons such as the ground, the magnetic directional disk 12 still points to the north with the N pole and the south with the S pole, but the U-groove photoelectric switch 6 fixed on the C-shaped ring 1 changes its relative position with the magnetic directional disk 12 as the vehicle changes its driving direction, and the light signal beam is blocked by the magnetic directional disk 12, and the power signal sent by the U-groove photoelectric switch 6 changes at the same time. Take the case of the vehicle deviating to the left as an example. When the vehicle deviates to the left, the light beam signal of the U-groove photoelectric switch 6 on the left is blocked by the magnetic directional disk 12 under the directional hole 3, and the power signal changes. By using the existing public technology, the power transmission of the drive on the right side of the vehicle can be stopped. Although the relative position of the U-groove photoelectric switch 6 on the right side also changes with the magnetic directional disk 12, since the directional hole 3 has a certain length, it does not affect the passage of the light beam signal, and the left side of the vehicle can be driven normally and continuously. In this way, the vehicle turns to the right. When the steering is restored to the direction required for straight driving, the light beam signal of the U-groove photoelectric switch 6 on the left passes through the directional hole 3 again, the power signal is restored, and the drive on the right resumes power transmission, so that the vehicle returns to the normal straight driving direction.

Claims

1. A directional driving control device for an unmanned vehicle, characterized in that: It includes a magnetic directional plate, a U-groove photoelectric switch, a C-shaped ring, and a directional accuracy adjustment sheet; The magnetic orientation disk is lightproof and circular, with a magnetic N pole at one end of the axis and a magnetic S pole at the other end. The magnetic orientation disk is fixed by the axis and can rotate freely and flexibly around the axis, so that the N pole is always facing north and the S pole is always facing south. There is an arc-shaped transparent orientation hole on each side of the magnetic orientation disk, and one end of each orientation hole is provided with an opaque orientation accuracy adjustment sheet; The outer periphery of the magnetic directional disk is a C-shaped circular ring, and the C-shaped circular ring is provided with a C-shaped circular ring slot from top to bottom, and the slot opening is smaller than the slot body; The diameter of the magnetic directional disk is smaller than the inner diameter of the C-shaped ring and can rotate freely in the C-shaped ring; The left and right sides of the C-shaped ring are fixed with a U-groove photoelectric switch through the positioning ears, positioning bolts and positioning cards of the U-groove photoelectric switch. The optical signal transmitter and receiver of the U-groove photoelectric switch correspond to each other on the two sides of the directional hole of the magnetic directional plate, so that the light beam of the optical signal just passes through the directional hole; loosening the positioning bolt, the U-groove photoelectric switch can move along the C-shaped ring card slot of the C-shaped ring; tightening the positioning bolt can fix the U-groove photoelectric switch on the C-shaped ring; When the directional driving control device of the unmanned vehicle is used on the vehicle, the C-shaped ring is fixed to the vehicle body; when the vehicle is driving normally in a straight line, the light signal light beams of the two U-groove type photoelectric switches pass through the directional hole at the same time, and both send out power signals, so that the vehicle continues to drive normally in a straight line; when the vehicle changes its driving direction due to ground reasons, the magnetic directional disk still has the N pole pointing north and the S pole pointing south, and the U-groove type photoelectric switch fixed on the C-shaped ring changes its relative position with the magnetic directional disk at the same time as the driving direction of the vehicle changes, and the light signal light beam on one side is blocked by the magnetic directional disk, and the power signal sent out by the U-groove type photoelectric switch changes at the same time, causing the drive on the other side of the vehicle to stop power transmission.

2. The directional driving control device for an unmanned vehicle according to claim 1, characterized in that: The orientation accuracy adjustment sheet can be rotated and fixed around the orientation accuracy adjustment axis to cover a portion of the orientation hole.

3. The directional driving control device for an unmanned vehicle according to claim 1, characterized in that: The C-shaped ring and the magnetic orientation disk have the same axis.

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